CN113634521A

CN113634521A - Automated flow control for rubber product manufacturing process flow

Info

Publication number: CN113634521A
Application number: CN202111010518.XA
Authority: CN
Inventors: G·马尔塞; G·法夫罗; O·孔布
Original assignee: Compagnie Generale des Etablissements Michelin SCA
Current assignee: Compagnie Generale des Etablissements Michelin SCA
Priority date: 2021-05-06
Filing date: 2021-08-31
Publication date: 2021-11-12
Also published as: EP4086069B1; US20220055837A1; EP4086069A1

Abstract

The invention relates to an automated flow control for a rubber product manufacturing process, in particular to a supply device (22) for a site (10) for producing rubber products from rubber blocks of a predetermined weight and volume of rubber compound, characterized in that it comprises: -an input station where the supply device performs an empty box (B)_V) Said empty tank (B)_V) For receiving identification in picking processRubber blocks meeting the production activities of rubber products are distinguished; -a discharge station, at which the supply device performs the discharge of a full tank (B)_P) The full tank (B)_P) Containing the picked rubber blocks; -a supply device managing the transport of empty and full boxes towards the supply apparatus; and-a picking station which performs a picking process of rubber blocks collected in the container according to the status of the current rubber product production activity.

Description

Automated flow control for rubber product manufacturing process flow

Technical Field

The present invention generally relates to the production of rubber compounds and rubber products made therefrom. More particularly, the invention relates to the control of the automated flow of rubber blocks composed of rubber compounds in the production site of rubber products.

Background

In the field of rubber product manufacture (including tires), a series of equipment is used to process rubber mixtures. These devices are part of the rubber product manufacturing process, each dedicated to one or more process steps. At each facility, these steps are performed by one or more machines dedicated to different processes, including extrusion processes, mixing processes, assembly processes, and shelling processes.

To formulate rubber products produced by these machines, the rubber mixtures are selected from various rubber mixtures blended in different amounts according to various formulations. Each rubber compound incorporates different materials required for the manufacture of the rubber product, including, without limitation, elastomers (e.g., natural rubber, synthetic elastomers, and combinations and equivalents thereof), reinforcing fillers (e.g., carbon black and silica), liquid plasticizers (e.g., known oils and resins), additives (e.g., 6PPD), and vulcanizing agents. A batch of rubber to be mixed may contain different kinds and grades of elastomers, each elastomer being typically provided in the form of a block (or "bale") of gum (or "rubber") of predetermined weight and volume (as used herein, it being understood that the terms "gum" and "rubber" are interchangeable) to obtain properties that are as uniform as possible.

Furthermore, in current production facilities, there is an arrangement of rubber blocks grouped together according to their common properties, which facilitates their handling and ensures their optimal storage in the available storage space. For example, the rubber blocks may be stacked on a crate, box, or other equivalent container, pallet, or transport device (e.g., on a conveyor belt or transported by a shuttle). Therefore, the handling and storage of the rubber blocks is an important part of the rubber product manufacturing process.

The flow control of the rubber blocks must also be accurately monitored to ensure an optimized production process flow. In rubber product production facilities, many types of rubber compounds are known to be useful in meeting the formulations required to produce rubber products. Depending on the formulation chosen, these rubber mixtures of suitable quality must be supplied to the appropriate machine at the appropriate time.

The invention therefore relates to the control of the automated flow of rubber blocks consisting of rubber mixtures in the production site of rubber products. Such control involves new modularity of control tools (e.g., robots, containers, and autonomous vehicles) to optimize the available inventory of rubber compounds.

Disclosure of Invention

The invention relates to a supply device for a site for producing rubber products from rubber blocks of a predetermined weight and volume of rubber compound, characterized in that it comprises:

-an input station at which the supply device performs an entry process of an empty box for receiving, in a picking process, rubber blocks identified as satisfying a rubber product production activity;

-a discharge station at which the supply device performs a process of discharging a full box containing the picked rubber blocks;

-a supply device managing the transport of empty and full boxes towards the supply apparatus; and

a picking station which performs a picking process of rubber blocks collected in the containers according to the status of the current rubber product production activity.

In some embodiments of the supply apparatus of the present invention, the picking station comprises:

-at least one automated unit, wherein each unit is assigned at least one container; and

-at least one robot performing a picking process of rubber blocks collected in a container, wherein said robot is operatively arranged with respect to the units and with respect to the supplying means.

In some embodiments of the supply apparatus of the present invention, the unit comprises:

-a frame allowing attachment of the unit;

an automatic centering system having a guide device which allows precise positioning of the containers arranged in the loading space of the unit;

a gripping system having a fixing device which maintains the positioning of the containers arranged in the loading space of the unit; and

a locking system with locking means which maintain the positioning of the containers arranged in the loading space of the unit.

In some embodiments of the supply apparatus of the invention:

the guide means of the unit comprise a pair of guides aligned at the entrance of the unit;

the fixing means of the unit comprise a tiltable fixing frame with a pivoted frame mounted on the frame such that the frame moves between a standby position, in which the frame remains tilted to allow loading and positioning of containers in the loading space of the unit, and a clamping position, in which the frame is lowered; and

the locking means of the unit comprise an obstacle mounted on the frame so that it moves between an unlocked position, in which it remains inclined to allow the container to be loaded and positioned in the loading space, and a locked position, in which it moves upwards to block and abut against the container in a known plane.

In some embodiments of the supply apparatus of the present invention, the housing of the unit comprises at least one of:

-a fastening device for moving the frame between the standby position and the clamping position;

-a clamping element for forming a tiltable fixed frame; and

-one or more wings, each wing being pivotally movable up and down.

In some embodiments of the supply apparatus of the present invention, the robot comprises:

-a gripping device supported by the elongated pivot arm and extending from the elongated arm to a free end; and

-a gripper arranged at a free end of the gripping device, the gripper comprising one or more screws mounted at a functional platform of the gripper;

so that during a picking process performed by the robot, the robot is set in motion so that the gripper performs gripping of the target rubber block arranged in the container.

In some embodiments of the supply device of the invention, the robot comprises one or more load cells having the function of weighing the rubber mass picked up by the gripper during the picking process.

The invention also relates to a flow control method for producing a substantially automated flow control in a rubber product production site using rubber blocks of a predetermined weight and volume of rubber compound, characterized in that the method comprises the steps of:

-a step of recovering a container containing rubber blocks identified as satisfying a rubber product production campaign;

-a step of transporting the retrieved containers to a supply facility of the site during which each retrieved container is identified by means of the relevant rubber compound properties, said supply facility comprising:

-an input station where the supply device performs an entry process of an empty box for receiving the identified rubber mass during the picking process;

-a picking station to which the retrieved containers are transported, the picking station performing a picking process of rubber blocks collected in the containers according to the status of the current rubber product production activity;

-a gripping step during which the picking station performs a gripping process; and

-a picking step during which the picking station performs a picking process of rubber blocks collected in a container, the rubber blocks being intended to be transferred to a target location.

In some embodiments of the methods of the present invention, the method further comprises the steps of:

-a step of introducing empty boxes at the supply device, during which empty boxes are introduced at the input station according to the number of boxes to be filled in the picking process carried out at the picking station; and

-a step of unloading a full bin from the supply device, during which step the full bin is unloaded from the unloading station according to the currently active production volume.

In some embodiments of the methods of the invention:

-performing a gripping process by at least one automation unit of the picking station; and

-performing a picking process by at least one robot of a picking station.

In some embodiments of the method of the present invention, the clamping process comprises the steps of:

-a step of positioning the container in the unit;

-a locking step during which the container is clamped in the unit; and

-a clamping step during which the container is fixed in its position in the unit.

In some embodiments of the method of the invention, the picking process comprises the steps of:

-a step of determining one or more parameters of a target block of rubber among the blocks of rubber grouped in the clamped container;

-a step of directing the robot to approach a target rubber block identified for picking from a container gripped by the gripping process; and

-a step of fixing the target block of rubber;

-a step of removing the target rubber block from the clamped container; and

-a step of placing the captured block of rubber in a target position comprising at least one empty box waiting at the supply device.

In some embodiments of the method of the present invention, the robot repeats one or more steps of the picking process in a predetermined sequence to build a box filled with rubber blocks that meet the current rubber product production campaign.

Other aspects of the invention will become apparent from the detailed description below.

Drawings

The nature and various advantages of the present invention will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings (in which like reference characters identify like parts throughout the several views):

FIG. 1 shows an embodiment of automated flow control in a rubber product manufacturing site.

Figure 2 shows a schematic diagram of an embodiment of a supply apparatus for the location of figure 1.

Fig. 3 shows an embodiment of the flow control method of the present invention performed by the supply apparatus of fig. 2.

Fig. 4 shows a perspective view of an embodiment of an automation unit in the supply device of fig. 2.

Fig. 5 shows a perspective view of an embodiment of a robot in the supply device of fig. 2.

Fig. 6 shows a front perspective view of an embodiment of a gripper in the robot of fig. 5.

Fig. 7, 8 and 9 show the arrangement of the supply tank to the supply device of fig. 2.

Detailed Description

The present invention relates to systems and methods for creating substantially automated flow management (or "flow control") of rubber blocks of rubber compound in a rubber product production facility (or "site"). As used herein, the term "flow" refers to the movement of the identified rubber mass between production equipment at a site. The term "flow" also refers to the designated time for completing the movement of the rubber mass during the production cycle of the rubber product. The time units used may be seconds, minutes, hours, days, weeks and months. The time unit used may be its equivalent, e.g. the time remaining before the site can achieve an optimal flow of the rubber mass in the site.

Flow control is performed according to the current production activity. The term "activity" refers to the duration of a production facility at a site running the same recipe. Future planned activities are generated by identifying and predicting identified rubber compounds, present in specified amounts over specified periods of time. The specified period of time depends on the state of current and future activity.

Referring now to the drawings, in which like numerals refer to like elements, FIG. 1 shows an embodiment of automated flow control in a rubber product manufacturing site 10. To optimize their storage, retrieval, and transport between the equipment of the site 10, the rubber blocks arriving at the site (e.g., dedicated loading platform 12) are grouped together according to their common nature (e.g., in a supply container or "container" C (as shown in fig. 1), one or more pallets, or other equivalent container). The collected rubber blocks are transported to one or more storage devices 13, 15 of the site 10 (e.g., by an autonomous vehicle such as the AGV 20 shown) that include an automated storage system (e.g., an automated storage and retrieval system or "ASRS" and its equivalents). The storage devices 13, 15 are used to meet the current flow requirements and to indicate the completion of the current production process flow. It should be understood that flows may be classified using an autonomous learning approach, with some flows being more desirable than others (e.g., based on the properties of the rubber product being manufactured).

Each container C may be characterized by a unique identification (e.g., using numbers, codes, RFID identification, hyperlinks, identification devices, and/or equivalent devices) by which a controller (e.g., a PLC or equivalent control system) may identify the rubber blocks in the container in order to determine additional information (e.g., to update the arrival time and storage duration of the identified rubber blocks at one or more of the storage devices 13, 15). The identification, understanding and management of the rubber blocks and their properties are carried out by means of identification means integrated with the container C.

Referring again to FIG. 1 and with further reference to FIG. 2, containers C containing identified rubber blocks (including incomplete containers C) are retrieved from storage devices 13, 15 at the site 10_I) To be transferred to the supply facility 22 at the site. The supply device 22 facilitates control of automated flow of rubber blocks intended for use in one or more production process flows downstream of the supply device. The supply device 22 allows management of the reception, identification, transfer, storage and output of rubber blocks that meet the current production campaign. Thus, during a given production run, the rubber blocks with the desired properties are precisely oriented to the desired production process flow or flows.

The supply device 22 comprises an input station 24, at which input station 24 the supply device executes an empty box B_V(see arrow I in fig. 2), the empty box B_VIntended to receive the rubber blocks during the picking process. The supply device 22 further comprises a discharge station 26, at which discharge station 26 the supply device performs a discharge of full boxes B_PSee arrow II of fig. 2), the full tank B_PContaining the picked rubber mass. Introducing empty boxes B at the input station 24_VAnd discharging the full box B from the discharge station 26_PBy known means, for example by an autonomous vehicle 20 as shown in figure 1.

The supply means 28 of the supply device 22 will empty the box B according to the current status of the current activity_VFrom the input station 24 to the picking station 30 where the feeding device performs the picking process for the currently active selected rubber block (discussed below). In the embodiment shown in the figures, the supply means 28 comprise a conveyor belt sliding on rails. It should be understood that any equivalent means of transporting empty and full containers at supply 22 may be employed (including without limitation endless belts, transport shuttles, and other known conveyors).

Identification means (e.g., RFID readers, sensors, and/or their equivalents) may be installed (either on supply 22 or on autonomous vehicle 20) to check the status (empty or full) of a particular tank. The supply device 22 thus allows the identification, management and introduction of the available rubber compounds during the production cycle of the rubber product.

Referring again to fig. 2 and with further reference to fig. 3 and 4, the supply device 22 further includes a picking station 30. It is to be understood that the term "picking" includes: the function of placing and picking up the rubber blocks collected in the containers C or other dedicated spaces on which the units 100 of the picking station are waiting, and the target arrangement of the rubber blocks. In the production cycle of rubber products carried out by the station 10, the container C containing the grouped rubber blocks allows to fill the empty box B according to the current state of activity_VAnd discharging the full box B_P(the arrival of empty boxes and the discharge of full boxes is managed by the supply means 28) (see arrow III of figure 2). After the picking process (during which the rubber pieces of the containers C are collected in the respective boxes) is completed, the supply device 28 transports the full boxes to the discharge station 26 to facilitate their transport out of the supply device 22.

Referring to fig. 3 and with further reference to fig. 4, in an embodiment of the supply device 22, the picking station 30 includes an automated unit (or "cell") 100. Each unit 100 is capable of handling various containers C in which rubber blocks (e.g., based on color, size, shape, hardness, viscosity, and/or other rubber compound properties) are grouped during the clamping process performed by the unit. It should be understood that at least one container C may be assigned to each unit 100 of the picking station 30. It should be understood that the term "target location" (singular or plural) includes empty box B_VTarget rubber blocks arranged in containers C intended to be grouped into said empty boxes B_VIn (1). During the picking process, one or more rubber blocks are taken out of the container C and arranged to an empty box B transported by the supply device 28_VIn (1). The rubber blocks may be stored in the container C without knowing the arrangement of the rubber blocks.

The unit 100 includes a gripping system, a container locking system (or "locking system"), and an automatic container centering system (or "centering system"). The clamping, locking and centering systems are incorporated into the frame 102 of the unit 100, which allows for fixed mounting of the unit (e.g., by the support plate 101 and/or fasteners 103). It should be understood that the configuration of the frame 102 may vary depending on the change in footprint (footprint) of the unit 100 and/or the supply device 22, and in particular the picking station 30.

The illustrated embodiment of the frame 102 includes a pair of longitudinal members 104 spaced apart by a predetermined distance (e.g., a distance that allows correspondingly sized containers C to be loaded into the unit 100). Each member 104 extends along a predetermined length between an attached end 104a and an opposite end 104 b. The cross bar 106 may engage the opposite end 104b of the member 104 to define an entrance that allows containers C to be loaded into the unit 100.

The frame 102 further includes: a pair of lower supports 108 and a pair of upper supports 110 extending substantially perpendicular to each member 104. The lower and

upper supports

108, 110 of each pair are arranged parallel to each other along the length of each member 104 and are aligned with the respective supports. Each of the lower support 108 and the upper support 110 extends along a predetermined length between the respective attached end (where the supports are attached to the respective member 104) and the respective opposite free end (the lengths of the supports are substantially equal). Lower support 108 and upper support 110, together with member 104, define an enclosed space 112, which enclosed space 112 facilitates placement of containers C in unit 100. It should be understood that the number and precise positioning of the lower support 108 and the upper support 110 may vary and are not limited to the embodiment shown in the figures.

The centering system of the unit 100 comprises guide means allowing the precise positioning of the loaded containers C in the loading space 112 of the unit. In one embodiment of the unit 100, the guide means comprises a pair of guides 114 aligned at the entrance of the unit, with one guide 114 mounted along the length of each member 104 (e.g., relative to a mechanical stop 115 as shown in fig. 4). In one embodiment of the unit 100, the guide arrangement further comprises a parking platform (or "platform") 116 mounted on the frame 102 along the bottom support 108. The platform 116, together with the frame 102, provides a lowerable space where containers C are managed and secured in the loading space 112. In one embodiment, the platform 116 includes at least a series of rollers 116a for moving the containers into the loading space 112. It will be appreciated that the number of roller series, the number of rollers in each series and their arrangement may vary depending on the containers being managed.

Referring again to fig. 4, the clamping system of the unit 100 includes a pivoting frame (or "frame") 118 mounted on the frame 102. The frame 118 includes: two lateral sides 120, a longitudinal side 122 and a gripping member 124, which together form a tiltable and substantially rectangular fixed frame for the containers C housed in the housing space 112 of the unit. The frame 118 secures the containers and the plastic bag in the event that the plastic bag is secured around one or more rubber blocks during loading of the containers C into the unit 100.

The lateral sides 120 of the frame 118 are substantially parallel, and each lateral side 120 includes a lower edge and an upper edge extending between a starting end and an opposite stopping end. The longitudinal side 122 engages the stop end of the transverse side 120 and the clamping member 124 engages the start end to form a tiltable fixed frame. The longitudinal sides 122 incorporate fastening means along the lower edges of the longitudinal sides that allow the frame 118 to be tilted between a standby position (in which the frame 118 is kept tilted to allow the containers C to be loaded and positioned in the loading space 112 of the unit 100) and a clamping position (in which the frame 118 is lowered) (so as to clamp, for example, the plastic bags of boxes, if any). The frame 118 is tilted between the standby position and the clamping position by one or more cylinders or one or more equivalent clamping system actuators (not shown).

In an embodiment of the unit 100, the frame 118 also includes one or more pivoting wings (or "wings") that are pivotally moved up and down. In the embodiment shown, one or more lateral wings V are mounted along the top edge of each sidewall 120a₁₂₀. In this embodiment, a longitudinal wing V may be mounted along the upper edge of the longitudinal side portion 122₁₂₂. In one embodiment of the frame 118, the lateral wings V₁₂₀And a longitudinal wing V₁₂₂Each of which includes a rubber strip that protects it from impact. Transverse wing part V₁₂₀And a longitudinal wing V₁₂₂Each of which is pivotally moved up and down, thereby allowing the plastic bag to be pressed against a respective container C packed in the plastic bag. In this way, the plastic bag is fixed in position to prevent it from obstructing the picking area during the picking process performed by the picking station 30. Transverse wing part V₁₂₀And a longitudinal wing V₁₂₂Each of which is pivoted by one or more plating actuators or equivalent clamping system actuators (not shown). In embodiments of the unit 100 incorporating one or more pivoting wings, the containers are secured in the desired location of the unit 100 without damaging the frame 118, whether or not plastic bags are present.

The removal of the rubber block from the container C generates a great force that can lift and/or move the container. The unit 100 thus comprises a locking system incorporating a pivoting barrier 130, said pivoting barrier 130 ensuring the fixing of the container in the loading space 112 of the unit. The barrier 130 is mounted on the frame 102 adjacent the free end of the bottom support 108. The barrier 130 moves up and down in a pivoting (or translating) manner allowing it to tilt between an unlocked position (in which the barrier 130 remains tilted to allow the container C to be loaded and positioned in the loading space 112 of the unit 100) and a locked position (in which the barrier 130 moves up to block and abut the container C in a known plane). Thus, the locking system retains the containers C in the loading space 112, including during the picking process performed by the picking station 30.

The cell 100 may further comprise: a sensor for detecting the presence of a container C in the loading space 112, which can trigger the clamping process performed by the unit. Other sensors with other functions may be provided for use with the unit 100 for performing the gripping process based on the properties of the containers C (e.g., size, positioning, rubber block arrangement, presence or absence of plastic bags, etc.). For example, the unit 100 may include sensors to collect data corresponding to the container C and the positioning of the container C relative to the loading space 112 of the unit 100.

It should be understood that the term "sensor" (singular or plural) may refer to one or more devices (including photographs, cameras, and/or optical sensors). These devices may be configured to perform two-dimensional (2D) and/or three-dimensional (3D) image sensing, 3D depth sensing, and/or other types of sensing of the physical environment. With the captured data, the operation of the clamping, locking and centering systems for the unit 100 can be managed well in real time.

In one embodiment of the supply device 22 incorporating the unit 100, the data collected by the sensors may be used to control the means that implement the target rubber mass disposed in the pick container C. With reference to fig. 2 and 3 and with further reference to fig. 5 and 6, one embodiment of such an apparatus includes a robot 200 at the picking station 30, the robot 200 performing a process of picking up rubber blocks collected in the picking containers C. Said robot 200 is operatively arranged with respect to the unit 100 (in which the containers C are managed) and with respect to the supply means 28. As an example, in fig. 2, the supply device 28 includes a carrier robot 200 and an empty box B_VTo position them relative to the unit 100. The robot 200 together with the unit 100 performs the picking process at the picking station 30.

The unit 100 (and/or the system containing the unit 100) may include pre-programming of control information. For example, the settings of the picking process may be associated with parameters of the physical environment surrounding the picking station 30. In an embodiment of supply device 22, unit 100 may receive voice instructions or other audio data indicating, for example, the opening or stopping of unit 100 and/or the loading/unloading of containers C in loading space 112. The generated response may be represented audibly, visually, haptically (e.g., using a haptic interface), and/or in a virtual and/or augmented manner. The response, along with corresponding data, may be input into a neural network.

The picking process may incorporate a method of calculating the shape of the target rubber block. It should be understood that the term "target rubber mass" (singular or plural) includes rubber masses that exist in the physical environment of the robot 200 and are identified for picking during the picking process performed by the picking station 30.

The robot 200 may be a stationary robot or a mobile robot. By "mobile" it is understood that the robot 200 may be set into motion by an integrated type of motion device (e.g., an integrated motor) or a non-integrated type of motion device (e.g., an independently operating mobile cart or other equivalent mobile device). It should be understood that the robot 200 may be attached to a floor, ceiling, wall, or any support that allows the picking process to be performed at the picking station 30. It will be appreciated that the robot 200 may be a conventional industrial or cooperative robot, or even a parallel robot (delta robot) or a cable robot. In one embodiment, the robot 200 may be of the "cartesian" type, which allows for control of movement relative to the supply 28.

Referring again to fig. 6, the robot 200 includes a grasping device 202 supported by an elongated pivotable arm 204. The gripping device 202 extends from an elongated arm 204 to a free end 202a, where a gripper 206 is arranged along the longitudinal axis l-l at the free end 202 a. The robot 200 is set in a motion state so that the picker 206 can perform picking of the target rubber block during picking performed by the robot. The initial positioning of the robot 200 and the initial orientation of the gripper 206 may be determined based on the data obtained through image acquisition and the physical environment surrounding the picking station 30. The sensors of the sensing system in conjunction with the robot 200 may be attached to the elongated arm 204 and/or the gripper 206 of the robot.

One embodiment of the grabber 206 includes a housing 208, the housing 208 having a predetermined length between an attachment end 208a and a grabbing end 208 b. The housing 208 comprises a support 210, said support 210 extending between an attachment platform 212 arranged at the attachment end 208a and a functional platform 214 arranged at the grasping end 208 b. For example, three supports 210 are shown in fig. 6, but it is understood that the number of supports may be variable (e.g., depending on the length of the housing 208).

The attachment end 208a may include an adapter 216 integrated with the attachment platform 212, the adapter 216 allowing the housing to be removably attached to the robot 200. The attachment of the housing 208 to the robot 200 may be achieved by screwing the adapter 216 to the free end 202a of the grasping device 202 (e.g., by one or more screws as is known). It is to be understood that the attachment of the housing 208 to the robot 200 may be accomplished by known equivalent attachment means (including, without limitation, welding, gluing, screwing, and equivalents thereof).

The grabber 206 includes one or more screws 220 mounted in the functional platform 214 such that each screw may be rotated. The screws 220 may be integral with respect to the functional platform 214, or they may be removable. The functional platform 214 allows the screws 220 to be mounted in a substantially equilateral geometry (e.g., a substantially square shape).

By an electric motor M in the housing 208 supported by a functional platform 214₂₀₆To govern the rotational speed and direction of the screw 220. Motor M₂₀₆The relationship between the rotation speed and the pitch of the screw is controlled as the robot 200 advances straight, so that the screw is screwed into the target rubber block without tearing the rubber block. In one embodiment, motor M₂₀₆Including commercially available motors (e.g., so-called "brushless" type motors) that allow the speed and/or linear position of each screw to be synchronized relative to the target rubber block. Whether M₂₀₆The motor is configured, and the size of the motor can be adapted to the good grabbing speed and the optimal placement according to the shape and the size of the target rubber block. In the illustrated embodiment, the motor M₂₀₆Including a gear motor that incorporates a gear 223 to minimize the weight of the gripper 206 and the size of the robot 200 that carries it.

Each screw 220 may be selected from known screws including tapered screws (not shown) and "end less" or "bottle opener" type screws. Each screw 220 includes a predetermined height that extends between a low portion of the end of the screw (where one tip 221 of the screw penetrates the outer surface of the target block) and a relatively high portion (where the rotational speed and linear movement of the screw is controlled). It should be understood that the robot 200 may use multiple embodiments of the screw 220. The robot 200 may select the desired screws to mount on the gripper 206 based on the parameters of the picking process performed at the picking station 30. One or more screws 220 may be machined as desired, and the machined screws may be used with (or in combination with) the screws being used. Thus, the present invention provides adaptability to the robot 200 (particularly the gripper 206) for handling rubber blocks, regardless of the parameters or shape of the rubber block.

The number of screws 220 is adjustable to enable quick installation and removal of the screws as required for the desired rubber block picking process. One or more screws 220 may be installed at the gripper 206 to optimize its gripping capability (e.g., to match the grip to the size of the target block of rubber), optimize the holding force on the target block of rubber, and enable gripping of one or more blocks of rubber at a time using an adjustable number of screws.

Referring again to fig. 5 and 6, and in particular to fig. 6, the gripper 206 further includes one or more load cells 222. In one embodiment, the load cell 222 is integrated with the gripper 206 (e.g., at the attachment end 208a shown in fig. 6). The load cell 222 has the function of weighing the rubber mass picked by the gripper 206 during the picking process. By predicting the weight of the rubber block to be removed and then verifying this weight, the load cell 222 can ensure the removal of the block by: the extraction force and speed are adjusted with control of the screw speed 220. Thus, an accurate block dosage is obtained, since the pick-and-place of the blocks is well regulated and controlled.

The gripper 206 further comprises means for measuring the presence of the target rubber block and/or its positioning relative to the gripper, in particular relative to one or more screws 220 of the gripper. In one embodiment, the measurement device includes one or more laser rangefinders 224 incorporated into the gripper (e.g., mounted on the functional platform 214). Each laser rangefinder 224 is capable of verifying the positional height (initial height determined, for example, by a vision system) of the target rubber patch picked by the gripper 206 during the picking process. Each laser rangefinder 224 verifies the pick and removal of the target rubber block by detecting the presence or absence of the target rubber block relative to the corresponding screw 220. To ensure optimal picking of the target rubber block, the laser rangefinder 224 also measures the screw-in height of the rubber block by determining the depth of insertion of the screw 220 into the rubber block. In response to the measurement data captured by the laser rangefinder 224, the robot 200 may manipulate the gripper 206 to tilt the gripper 206 so that it is positioned perpendicular to the blocks regardless of the tilt of the rubber blocks in the respective bin. Thus, inserting the screws 220 into the rubber blocks at the same depth level optimizes the capture of the target rubber block.

It should be understood that the robot 200 may include a sensing system that uses one or more sensors (not shown) to collect information about the physical environment surrounding the robot. The sensors of the sensing system in conjunction with the robot 200 may be attached to the elongated arm 204 and/or the gripper 206 of the robot.

In embodiments of the delivery device 22 where the pick station 30 incorporates the unit 100 and the robot 200, a vision system (not shown) may be used to detect the presence of a rubber block disposed within the field of view of the camera of the vision system, which presence triggers the camera to capture an image of one or more rubber blocks. In the case where a portion of the target rubber block is not visible in the camera image, an arbitrary point may be placed at a known position relative to the sensor of the sensing system (e.g., at a known horizontal distance and a known vertical distance from the sensor position). Thus, the sensors of the unit 100 and the sensors of the robot 200 may provide information about the physical environment surrounding the picking station 30, which information may be used by the control system (which includes, for example, software for planning the gripping of the unit 100 and/or the corresponding movements of the robot 200 with respect to the movement of the supplying means 28). The control system may communicate remotely.

In some embodiments, one or more sensors (including without limitation navigation sensors) mounted on robot 200 may be integrated to form a digital model of the physical environment of supply device 22 (including, where applicable, the sides, floor, and ceiling of site 10). Using the data obtained, the control system may cause the robot 200 to move (e.g., to base the positioning of the containers C and the supply of one or more empty containers B on the supply device 28)_VTo navigate the robot).

The robot 200 may include pre-programming of control information. For example, the settings of the picking process may be associated with parameters of a typical physical environment surrounding the picking station 30. In embodiments of the supply device 22, the robot 100 may receive voice instructions or other audio data indicative of, for example, the start or stop of a rubber block pick, the start or stop of the movement of the robot 200, and/or the manipulation of the gripper 206. The generated response may be represented audibly, visually, tactilely (e.g., using a haptic interface), and/or by virtual and/or augmented means. The response, along with corresponding data, may be input into a neural network.

In one embodiment, the picking process may include the step of training the robot 200 (or training the supply device 22 in conjunction with the robot 200) to identify a value indicative of a property of the rubber block (e.g., a viscosity value) and compare it to a target value (e.g., to simulate a rubber mixing recipe containing the retrieved rubber block). This step may include the step of training the robot 200 to identify non-equal values between the compared values. Each training step includes a classification generated by means of autonomous learning. The classification may include, without limitation, parameters of the selected mix recipe, screw 220 configuration, cycle time of the picking process, and expected values at the end of the on-going picking process (e.g., weight of rubber mass placed at the target location).

Referring again to fig. 1-6, and in particular to fig. 3, a detailed description is given as an example of the flow control method (or "method") of the present invention performed by the supply device 22 (or by the site 10 including the supply device 22). It will be appreciated that the supply device 22 allows advantageously modularity to avoid wasting time waiting for the containers C to arrive. For example, one or more robots 200 may be arranged between two rows of cells 100, depending on the flow established during the activity. In the event of a cell lacking containers, the robot 200 continues their picking function with any containers already loaded in other cells. In other embodiments, the picking station 30 may process arriving bins in different configurations, including a "U" type configuration (see FIG. 7), an "I" type configuration (see FIG. 8), an "L" type configuration (see FIG. 9), and any other configuration to optimize the performance of an activity.

FIG. 3 shows the supply device 22 with empty boxes B being supplied by the supply means 28_V1To the picking station 30. Empty box B_V1To a picking station 30 having waiting containers C with rubber blocks grouped therein according to the rubber properties. Each property is typically provided with a predetermined weight and volume of the rubber block. As shown in fig. 3, the rubber blocks are intended to be grouped by rubber type A, B, C. It is understood that different numbers of rubber types may be processed depending on the rubber product being manufactured and the properties required thereof.

When the flow control method of the present invention is activated, the method includes the step of recovering the container C containing the identified rubber block (which satisfies the rubber product production run). The containers C are retrieved from one or more storage devices (storage device 13 or storage device 15) (see fig. 1).

This step includes the step of identifying a rubber compound that satisfies at least one current rubber product production campaign. The containers can be identified according to the shortest time allowed to achieve production, taking into account the time required to combine the properties of the rubber mixture required to achieve the rubber product produced. The time units used may be seconds, minutes, hours, days, weeks and months. The unit of time used may be an equivalent unit thereof, for example, the time remaining until supply 22 identifies the arrival of a sufficient number of containers to complete the production of a plurality of selected rubber products.

The supply device 22 can record when each extracted container C arrives (date, time, moment, etc.) to be able to manage the storage duration of the rubber compound in the storage means 13, 15. The container of rubber compound and/or its location in the storage device 13, 15 may be visually or otherwise identified by one or more known means (e.g., one or more RFID devices, bar codes, etc.) to indicate which area the container should be extracted from. In one embodiment, in order to ensure that a rubber mixture is used that does not exceed its shelf life, the instructions to form the extraction container are made after determining the storage duration of the rubber mixture. In this embodiment, the extraction of containers filled with the rubber mixture stored for the longest time is ordered, these containers being identified as satisfying the current activity. These identified containers are extracted before the containers with the shorter storage time.

The flow control method further includes the step of transporting the retrieved containers C to a picking station 30 of the supply device 22. During this step, each recovered container C is identified by the relative properties of the rubber mixture. At the time each recovered container reaches the supply device 22, the rubber mixture has been considered suitable for the current production activity. If the rubber compounds stored in the storage means 13, 15 do not meet the current activity, future activities that will use the available rubber compounds can be treated preferentially. The current inventory and the planned inventory in the storage devices 13, 15 may be dynamically monitored to dynamically sequence the production activities so that at least one production activity is always feasible.

The flow control method further includes a clamping step during which the picking station 30 performs a clamping process. The clamping process includes the step of positioning the retrieved container C into the loading space 112 of the unit 100. During this step, the rack 118 remains in the standby position and the barrier 130 remains in the unlocked position. In embodiments where the frame 102 incorporates a platform 116, the platform 116 (with or without rollers 116a) guides the containers C onto the platform during this step. During this step, the device of which the unit 100 is a part is closed and blocked (secured) to allow uninterrupted access to the container C. The safety management system allows the robot 200 to continue working in other cells 100. Only the units 100 that are being loaded and unloaded are blocked to prevent the robot 200 from entering the area.

The clamping process further comprises a locking step to press the container C against the frame 102 of the unit 100. During this step, the detection of the presence and accurate positioning of the container allows the barrier 130 to move from the unlocked position to the locked position to block and hold the container C. This configuration ensures that the container C is fixed in the loading space 112 and also optimizes the working area of the device (e.g. robot 200) handling the rubber blocks arranged in the container.

At the wing part V including the transverse wing part₁₂₀And/or longitudinal wingsSection V₁₂₂In an embodiment of the unit 100 according to (1), the locking step further comprises the step of lowering the wings to rest against the respective containers C. In the case of a plastic bag, the wings rest against the plastic bag to secure it in place.

The clamping process further comprises a clamping step to position the tiltable stationary frame. During this step, the rack 118 moves from the standby position to the gripping position to press the containers C against the frame 102 and grip the plastic bags of the containers.

In embodiments of the gripping process, the one or more processing steps may further include the step of scanning the physical environment around the picking station 30 to achieve precise positioning of the containers C. During this step, the supply device 22 and/or the slab picker device (e.g., robot 200) may use one or more sensors to capture data corresponding to the gripped container and the slabs grouped therein to determine the shape and/or location of the individual slabs. This information is relevant to: the arrangement of the rubber blocks is known and the best candidate to be sorted is determined from the rubber blocks grouped in the identified container C. This best candidate selection strategy allows for accurate modeling of the clamping process to optimize the time of the associated production cycle.

The clamping process may be done by PLC control and may include pre-programming of control information. For example, the setting of the clamping process may be associated with the slope provided to the unit 100 and/or the mix properties of the rubber blocks in the containers C managed by the unit 100 (including the characteristics of the rubber properties associated with the presence of the respective container C and/or plastic bag). The unit 100 (and/or the supply device 22 including the unit 100) can easily repeat one or more steps of the clamping process in a specified sequence in order to properly supply the rubber blocks to obtain the desired batch (batch).

The flow control method further includes a picking step during which the picking station 30 performs a picking process. The picking process includes the step of bringing the robot 200 (particularly the gripper 206) into proximity with a target rubber block identified for picking from the containers C gripped by the gripping process. During this step, the gripper 206 is controlled to be in close proximity to the outer surface of the target block of rubber. At the same time, the screw 220 is rotated in a predetermined rotational direction to achieve a holding force of the target rubber block by the screw.

The picking process further comprises the step of determining one or more parameters of the target rubber mass that is to be grouped in the rubber masses of the gripped container C. The relevant parameters of the rubber block may be determined, for example, from a reference to the rubber block size or generated by an equation (e.g., calculating the area of the target rubber block). During this step, the distance between the tip 221 of each screw 220 and the top surface of the target rubber block is determined by the respective laser rangefinder 224. During this step, the robot 200 may obtain digital images of the rubber pieces grouped in the container to identify the rubber pieces to be sorted. During this step, the robot 200 may use one or more sensors to scan the physical environment around the picking station 30. The gripper apparatus 202 and/or the elongated arm 204 move, wherein one or more sensors on the gripper apparatus and/or the elongated arm are capable of capturing data corresponding to the grouped rubber blocks to determine the shape and/or location of the individual rubber blocks.

The picking process further includes the step of securing the target block of rubber during which the gripper 206 moves until the tip 221 of the screw 220 engages a corresponding gripping point of the top surface of the target block of rubber. The movement of the gripper 206 during this step is continued until the tip 221 of the screw 220 penetrates the top surface of the rod-like object rubber block to be screwed thereinto. During this step, the laser rangefinder 224 measures the depth of the performed penetration (continuously or at predetermined intervals) until the desired penetration depth is reached, which ensures the retention of the target rubber block (and thus its gripping). The penetration depth is determined based on the properties of the rubber block including, without limitation, its length, width, thickness, viscosity, etc. During this step, the gripper 206 advances the screw 220 until the laser rangefinder 224 determines that the tip 221 of the screw reaches the desired penetration depth. When the tip 221 of the screw 220 reaches the desired penetration depth, the rotation of the screw 120 is stopped to prevent tearing of the rubber block.

During this step, electricity can be monitored during the fixation processMachine M₂₀₆The torque of (c). When the monitored torque exceeds its set threshold, the motor M₂₀₆It may be stopped. It will be appreciated that the removal of the target rubber block requires the ability to position the gripper 206 at different pick-up points. Thus, it should be understood that gripping of one or more target blocks may be accomplished from the center, sides, or corners of the target block. Thus, the gripper 206 is able to pull out the target rubber block by peeling it off from the corner, which requires the ability to adjust the positioning angle of the gripper with respect to the desired rubber block to be gripped (e.g., a positioning angle between 0 ° and 90 °).

The picking process further includes the step of removing the target rubber block from the gripped container C during which the retention force on the target rubber block is maintained. During this step, the load cell 222 determines the weight of the target rubber mass picked by the gripper 206. For this purpose, the load cell 222 takes into account the load of the pick and checks whether the load corresponds to the expected weight of the pick. Thus, the positioning angle of the gripper 206 and its speed can be adjusted.

In an embodiment of the picking process, this step includes the step of vertically pulling the target rubber block out of the other rubber blocks disposed in the receptacle. Vertical separation of the blocks includes a stripping step during which the target block of rubber is removed (or "stripped") in a direction perpendicular to the outer surface of the adjacent block of rubber. In the case where the target block of rubber picked up by the gripper sticks together (e.g., by the so-called "suction cup" effect) with other blocks of rubber grouped in the clamped container C, the target block of rubber can be peeled off from the other blocks of rubber at any peel angle without degrading the quality of the holding force of the screw 220 on the target block of rubber.

In some embodiments of the picking process, the vertical separation of the rubber blocks includes a motion control step. During this step, the vertical movement of the gripper is performed to tilt the target block of rubber held by the gripper. During this step, the gripper 206 may perform a (partial or complete) rotation of the target rubber block to ensure a stable orientation of the rubber block without degrading the quality of the holding force.

The picking process further comprises the step of placing the target rubber mass at the target location. The target location includes an empty box B waiting on the supply device 28_V1. This step consists in transporting the target block of rubber to a waiting empty box B_V1Is performed by the robot 200. In the transfer of the target rubber block from the container C to the waiting empty box B_V1During this time, the gripper 206 maintains a good orientation of the target rubber block until it is placed in an empty bin. This step further comprises a release step during which, when the target block of rubber is properly placed in the empty box B_V1In the middle, the screw 220 is rotated in a predetermined rotational direction to effect release of the screw from the target rubber block.

The placing step further includes a withdrawing step of the gripper 206, in which the target rubber block is placed at the target position (empty box B)_V) And then performed simultaneously with the step of releasing the screw 220. During this step, the gripper 206 is set in motion until the tip 221 of the screw 220 is clear of the top surface of the target rubber block. At this point, rotation of the screw may stop. The movement of the gripper 206 is performed until the gripper leaves the target position (empty box B)_V) Returning to the gripper again, the next identified rubber block to be picked can be picked.

One cycle of the picking process of the present invention may be accomplished by PLC control and may include pre-programming of control information. For example, the picking process may be associated with the nature of the screws 220, the nature of the mix of rubber blocks picked by the gripper 206, and the target location (empty box B)_V) Is correlated with the nature of (c). The robot 200 (and/or the supply device 22 comprising the robot 200) can easily repeat one or more steps of the picking process in a well-defined order, which ensures that the boxes B filled with rubber blocks satisfying the current activity are built with an optimized consistency_P。

The flow control method of the present invention further comprises emptying the tank B_VThe step of introducing the supply device 22. During this step, the boxes to be filled during the picking process performed at the picking station 30 are carried by automatic driving means (for example, by automatic driving)Tool 20) introduces an empty box B at an input station 24_V. The empty box B can be taken from the storage devices 13, 15 in real time_VTo anticipate the needs of the current production campaign. In one embodiment, an incomplete box B_ICan be considered empty and thus stored in the storage means 13, 15 (see fig. 1).

The flow control method of the present invention further includes discharging the full tank B from the supply device 22_PThe step (2). During this step, the full tank B is discharged at the discharge station 26 (e.g., by the autonomous vehicle 20) according to the rate of current activity_P. The full bin B can be extracted from the discharge station 26_PAnd they can be transported to a subsequent production process. Full box B_PMay be stored in the storage device 17 awaiting a command to use them in a subsequent process flow (wherein the storage device 17 comprises an automated storage system of the type described above for the storage devices 13, 15).

It will be appreciated that the introduction of the empty box B can be performed at any time during the flow control method of the invention_VAnd/or unloading a full tank B_PThe step (2). Flow control of the introduction and discharge of empty and full tanks is an important element of overall rubber compound management for satisfying the determined activities.

Operation of robot 200 makes it easier to handle a full tank B in the process flow downstream of supply device 22_P. For example, to meet current activities, the dumping process may be easily performed at a blocking facility 32 (see fig. 1) of the site 10. During this dumping process, the bin B is full_P A blocking facility 32 is reached, which blocking facility 32 has been judged to comprise the rubber blocks needed to achieve the desired batch. Each full bin B can simply be dumped_PSo that the rubber mass falls onto the conveyor belt 32 a. The conveyor belt 32a transports the falling rubber mass to one or more standby mixers that perform the respective mixing processes.

In one embodiment, the control method of the present invention may include training the supply device 22 (or training the facility 10 including the supply device 22) to identify a status indicating a full tank B_PEmpty box B_VAnd/or rubbers associated with the container CA step of comparing the values of the properties of the rubber mass (for example, temperature and viscosity values) with target values (for example, to form batches containing rubber masses picked up by the robot 200). This step may include the step of training the provisioning device 22 to identify non-equal values between the compared values. Each training step may include a classification generated by way of autonomous learning. The classification may include, without limitation, parameters of the selected lot, duration of the clamping and unclamping process, and expected values at the end of the current activity (e.g., placement in an empty bin B)_VThe weight of the rubber block used to achieve the desired batch).

A monitoring system can be implemented at venue 10, at least a portion of which can be provided by a wearable device such as a mobile network device (e.g., a cell phone, laptop, wearable networked device (including "augmented reality" and/or "virtual reality" devices, wearable networked apparel, and/or any combination and/or equivalent device)).

The terms "at least one" and "one or more" are used interchangeably. Ranges denoted as "between a and b" include "a" and "b" values.

While particular embodiments of the disclosed apparatus have been illustrated and described, it will be appreciated that various changes, additions and modifications may be made without departing from the spirit and scope of the invention. Accordingly, no limitation on the scope of the described invention should be imposed other than those set forth in the appended claims.

Claims

1. A supply apparatus (22) for a plant (10) for producing rubber products from rubber blocks of a predetermined weight and volume of rubber compound, characterized in that the supply apparatus (22) comprises:

-an input station (24) at which input station (24) the supply device (22) performs an empty box (B)_V) Said empty tank (B)_V) For receiving rubber blocks identified as meeting rubber product production activities during the picking process;

-a discharge station at which the supply device performsDischarge full box (B)_P) The full tank (B)_P) Containing the picked rubber blocks;

-supply means managing empty boxes (B)_V) And full box (B)_P) A transport towards the supply device (22); and

-a picking station (30) which performs a picking process of rubber blocks collected in containers (C) according to the status of the current rubber product production activity.

2. The supply device (22) according to claim 1, wherein the picking station (30) comprises:

-at least one automated unit (100), wherein each unit is assigned at least one container (C); and

-at least one robot (200) performing a picking process of rubber blocks collected in containers (C), wherein said robot is operatively arranged with respect to said units (100) and with respect to said supplying means (28).

3. The supply device (22) according to claim 2, wherein the unit (100) comprises:

-a frame (102) allowing to fix the unit (100);

-an automatic centering system comprising guide means allowing the precise positioning of containers (C) placed in the loading space (112) of the unit;

-a gripping system comprising fixing means which maintain the positioning of the containers (C) placed in the loading space of the unit; and

-a locking system comprising locking means ensuring that the positioning of a container (C) placed in the loading space of the unit is maintained.

4. The supply device (22) according to claim 3, wherein:

-the guiding means of the unit (100) comprise a pair of guides (114) aligned at the entrance of the unit;

-the fixing means of the unit (100) comprise a tiltable fixing frame with a pivoted frame (118), the frame (118) being mounted on the frame (102) such that it is moved between a standby position, in which it is kept tilted to allow loading and positioning of containers (C) in the loading space (112) of the unit (100), and a clamping position, in which the frame (118) is lowered; and

-the locking means of the unit (100) comprise an obstacle (130), the obstacle (130) being mounted on the frame (102) such that it moves between an unlocked position, in which the obstacle (130) remains inclined to allow the loading and positioning of the containers (C) in the loading space (112), and a locked position, in which the obstacle (130) moves upwards to block and abut against the supply containers (C) in a known plane_A)。

5. The supply device (22) according to claim 4, wherein the rack (118) of the unit (100) comprises at least one of:

-a fastening device (123) allowing to move the frame (118) between a standby position and a clamping position;

-a clamping member (124) for forming a tiltable fixed frame; and

-one or more wings (V)₁₂₀、V₁₂₂) Each wing part (V)₁₂₀)、(V₁₂₂) Can pivotally move up and down.

6. The supply device (22) according to any one of claims 2 to 5, wherein the robot (200) comprises:

-a gripping device (202) supported by a pivotable elongated arm (204) and extending from the elongated arm to a free end (202 a); and

-a gripper (206) arranged at a free end (202a) of the gripping device (202), the gripper comprising one or more screws (220) mounted at a functional platform (214) of the gripper;

such that during a picking process performed by the robot, the robot (200) is set into a motion state to enable the gripper (206) to perform gripping of target rubber blocks arranged in a container (C).

7. The supply device (22) according to any one of claims 2 to 6, wherein the robot (200) comprises one or more load cells (222), the load cells (222) having the function of weighing one or more rubber masses picked up by the gripper (206) during the picking process.

8. A flow control method for producing substantially automated flow control in a location (10) for producing rubber products from rubber blocks of a predetermined weight and volume of rubber compound, characterized in that the method comprises the steps of:

-a step of recovering a container (C) containing rubber blocks identified as being satisfactory for the activity of producing rubber products;

-a step of transporting the recovered containers (C) to a supply device (22) of the site (10), during which step each recovered container (C) is identified with the relative rubber compound properties, said supply device (22) comprising:

-a discharge station, at which the supply device performs the discharge of a full tank (B)_P) The full tank (B)_P) Containing the picked rubber blocks;

-a picking station (30) which performs a picking process of rubber blocks collected in containers (C) according to the status of the current rubber product production activity;

-a gripping step during which the picking station (30) performs a gripping process; and

-a picking step during which the picking station (30) performs a picking process of rubber blocks collected in containers (C) for laying down into target positions.

9. The flow control method of claim 8, further comprising the steps of:

-introducing empty boxes (B) at said supply device (22)_V) During which empty boxes (B) are introduced at the input station (24) according to the number of boxes to be filled in a picking process carried out at the picking station (30)_V) (ii) a And

-discharging a full tank (B) from the supply device (22)_P) During which full boxes (B) are discharged from said discharge station (26) according to the current active rate_P)。

10. The flow control method according to claim 8 or claim 9, wherein:

-performing a gripping process by at least one automated unit (100) of the picking station; and

-performing a picking process by at least one robot (200) of the picking station.

11. The flow control method of claim 10, wherein the clamping process comprises the steps of:

-a step of positioning a container (C) in said unit (100);

-a locking step during which a container (C) is clamped in said unit (100); and

-a clamping step during which the container (C) is fixed in its position in the unit (100).

12. The flow control method according to claim 11, wherein the culling process comprises the steps of:

-a step of determining one or more parameters of a target block of rubber grouped in blocks of rubber of the gripped container (C);

-a step of approaching the robot (200) to a target rubber block identified for picking from a container (C) gripped by the gripping process; and

-a step of fixing the target block of rubber;

-a step of removing the target block of rubber from the gripped container (C); and

-a step of placing the picked rubber mass in a target position comprising at least one empty box (Bv) waiting at the supply device (28).

13. The flow control method according to any one of claims 8 to 12, wherein the robot (200) repeats one or more steps of the picking process in a predetermined sequence to build a box (B) filled with rubber blocks fulfilling the current rubber product production activity_P)。